// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2024 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#ifndef PX_WINDOWS_AOS_H
#define PX_WINDOWS_AOS_H

#include "foundation/PxPreprocessor.h"

#if PX_WINDOWS_FAMILY
// no includes here! this file should be included from PxAOS.h only!!!

#if COMPILE_VECTOR_INTRINSICS

#if !COMPILE_VECTOR_INTRINSICS
#error Vector intrinsics should not be included when using scalar implementation.
#endif

#if PX_GCC_FAMILY
#include <emmintrin.h>
#endif

#include <stdint.h>

#if !PX_DOXYGEN
namespace physx {
#endif
    namespace aos {
#if PX_GCC_FAMILY

        typedef union UnionM128 {
            UnionM128() {
            }

            UnionM128(__m128 in) {
                m128 = in;
            }

            UnionM128(__m128i in) {
                m128i = in;
            }

            operator __m128() {
                return m128;
            }

            operator __m128() const {
                return m128;
            }

            float m128_f32[4];
            int8_t m128_i8[16];
            int16_t m128_i16[8];
            int32_t m128_i32[4];
            int64_t m128_i64[2];
            uint16_t m128_u16[8];
            uint32_t m128_u32[4];
            uint64_t m128_u64[2];
            __m128 m128;
            __m128i m128i;
        } UnionM128;

        typedef UnionM128 FloatV;
        typedef UnionM128 Vec3V;
        typedef UnionM128 Vec4V;
        typedef UnionM128 BoolV;
        typedef UnionM128 VecU32V;
        typedef UnionM128 VecI32V;
        typedef UnionM128 VecU16V;
        typedef UnionM128 VecI16V;
        typedef UnionM128 QuatV;
#else
        typedef __m128 FloatV;
        typedef __m128 Vec3V;
        typedef __m128 Vec4V;
        typedef __m128 BoolV;
        typedef __m128 VecU32V;
        typedef __m128 VecI32V;
        typedef __m128 VecU16V;
        typedef __m128 VecI16V;
        typedef __m128 QuatV;
#endif


#define FloatVArg FloatV &
#define Vec3VArg Vec3V &
#define Vec4VArg Vec4V &
#define BoolVArg BoolV &
#define VecU32VArg VecU32V &
#define VecI32VArg VecI32V &
#define VecU16VArg VecU16V &
#define VecI16VArg VecI16V &
#define QuatVArg QuatV &

// Optimization for situations in which you cross product multiple vectors with the same vector.
// Avoids 2X shuffles per product
        struct VecCrossV {
            Vec3V mL1;
            Vec3V mR1;
        };

        struct VecShiftV {
            VecI32V shift;
        };
#define VecShiftVArg VecShiftV &

        PX_ALIGN_PREFIX(16)
        struct Mat33V {
            Mat33V() {
            }

            Mat33V(const Vec3V &c0, const Vec3V &c1, const Vec3V &c2) : col0(c0), col1(c1), col2(c2) {
            }

            Vec3V PX_ALIGN(16, col0);
            Vec3V PX_ALIGN(16, col1);
            Vec3V PX_ALIGN(16, col2);
        } PX_ALIGN_SUFFIX(16);

        PX_ALIGN_PREFIX(16)
        struct Mat34V {
            Mat34V() {
            }

            Mat34V(const Vec3V &c0, const Vec3V &c1, const Vec3V &c2, const Vec3V &c3) : col0(c0), col1(c1), col2(c2),
                                                                                         col3(c3) {
            }

            Vec3V PX_ALIGN(16, col0);
            Vec3V PX_ALIGN(16, col1);
            Vec3V PX_ALIGN(16, col2);
            Vec3V PX_ALIGN(16, col3);
        } PX_ALIGN_SUFFIX(16);

        PX_ALIGN_PREFIX(16)
        struct Mat43V {
            Mat43V() {
            }

            Mat43V(const Vec4V &c0, const Vec4V &c1, const Vec4V &c2) : col0(c0), col1(c1), col2(c2) {
            }

            Vec4V PX_ALIGN(16, col0);
            Vec4V PX_ALIGN(16, col1);
            Vec4V PX_ALIGN(16, col2);
        } PX_ALIGN_SUFFIX(16);

        PX_ALIGN_PREFIX(16)
        struct Mat44V {
            Mat44V() {
            }

            Mat44V(const Vec4V &c0, const Vec4V &c1, const Vec4V &c2, const Vec4V &c3) : col0(c0), col1(c1), col2(c2),
                                                                                         col3(c3) {
            }

            Vec4V PX_ALIGN(16, col0);
            Vec4V PX_ALIGN(16, col1);
            Vec4V PX_ALIGN(16, col2);
            Vec4V PX_ALIGN(16, col3);
        } PX_ALIGN_SUFFIX(16);


    } // namespace aos
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif
#endif
#endif

